m-best S-D assignment algorithm with application to multitarget tracking

Popp, Robert L.; Pattipati, Krishna R.; Bar‐Shalom, Yaakov

doi:10.1109/7.913665

Cited by 136 publications

(60 citation statements)

References 31 publications

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“…The fused tracks produced at the global node constitute the output of the tracking system. The local trackers were implementations of N-scan sliding window multiple hypothesis tracking (MHT) with a hypothesis depth of N=1 previous scan [16]. Track fusion was implemented in the global node using the information fusion method [17].…”

Section: Simulation Resultsmentioning

confidence: 99%

Exploitation of bistatic doppler measurements in multistatic tracking

Lang

Hayes

2007

2007 10th International Conference on Information Fusion

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-The exploitation of bistatic Doppler measurements for multistatic tracking is considered. It is found through simulation, that, while the velocity estimation of the standard extended Kalman filter is improved in monostatic situations and multistatic situations where measurement errors are small, a degradation in performance is observed in multistatic situations where the measurement errors are realistically large. A bistatic modification to the alternate EKF of Bizup and Brown [9] is proposed as a means of exploiting bistatic Doppler measurements in realistic multistatic situations.Simulation results confirm that the proposed filter outperforms the standard EKF and can produce significantly improved target velocity estimates when Doppler measurements are exploited in multistatic applications.

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Section: Simulation Resultsmentioning

confidence: 99%

Exploitation of bistatic doppler measurements in multistatic tracking

Lang

Hayes

2007

2007 10th International Conference on Information Fusion

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“…We do not consider the possibility of missed detections in this paper, and as a result there is not a need to add dummy measurements at each scan as in [8]. The candidate measurements are generated as follows: assuming the measurement was generated from a return r due to a ping p, we can obtain the range of the contact point of the ping (with either a target or clutter) as shown below:…”

Section: A Mpda Cost Generationmentioning

confidence: 99%

Removing ping timing ambiguity via data association

et al. 2008

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Abstract-This paper considers the use of a multiple ping active sonar approach in order to track multiple targets. In most underwater target tracking applications that rely on active sonar observations, the sonar sends out a single ping at each scan interval and receives returns that might either be from target(s) or due to clutter.We propose to use a multi-ping paradigm, with the idea that the better detectability of more pings can, assuming a high clutter density, lead to better localization of targets. However, this introduces a timing ambiguity in the ping returns adding a new level of complexity in the data association. In this paper we propose a Multi-Ping Data Association (MPDA) algorithm as a solution. MPDA formulates the assignment problem as a linear program, which could then be solved using a primal-dual interior point approach.A comparison is made between three different scenarios: (a) the sonar sends out a single ping in each scan interval; there is no timing ambiguity (which return is due to which ping), (b) the sonar sends out multiple pings within a scan interval and the timing ambiguity is avoided by using orthogonal waveforms for each ping, (c) when the sonar sends out multiple pings, each ping being an identical waveform, within each scan, leading to a timing ambiguity. A well known multiple target tracking technique such as the JPDA is used in cases (a) and (b), while the MPDA algorithm is used to solve the assignment problem in case (c), and is shown to perform better than case (a) in high clutter densities. Case (b), the unrealizable bogey, performs best.

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“…For the case of S is equal to 2, well-known 2-D assignment methods are the Jonker-Volgenant-Castanon (JVC) algorithm [44]. This method also provides a measure of accuracy for the solution found [45]. While finding the optimal assignment for S > 2 is an NPhard problem [46], a number of near-optimal modifications with polynomial complexity have been proposed [47].…”

Section: Bayesian Approachesmentioning

confidence: 99%

A Survey of Motion-Based Multitarget Tracking Methods

Qiu¹,

Zhang²,

Lü³

et al. 2015

PIER B

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Abstract-Multitarget tracking (MTT) in surveillance system is extremely challenging, due to uncertain data association, maneuverable target motion, dense clutter disturbance, and real-time processing requirements. A good many methods have been proposed to cope with these challenges. However, no up-to-date survey is available in the literature that can help to select suitable tracking algorithm for practical problem. This paper provides a comprehensive review of the state-of-the-art motion-based MTT techniques, classifies existing methods into two groups, i.e., the detect-beforetrack (DBT) scheme and the track-before-detect (TBD) scheme. The DBT scheme is employed to achieve robust and tractable tracking performance when the signal-noise-ratio (SNR) is strong. The TBD scheme is used in the scenarios of low SNR, and it aims to cumulate target energy by multiple sensor frames. Furthermore, depending on the data association mechanism, the DBT methods can be classified into two categories, data association based approaches and finite set statistics (FISST) based approaches. And the TBD methods can be classified into non-Bayesian approaches and Bayesian approaches depending on the basis theory used for tracking. For each category, this paper provides the detailed descriptions of the representative algorithms, and examines their pros and cons. Finally, new trends for future research directions are offered.

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m-best S-D assignment algorithm with application to multitarget tracking

Cited by 136 publications

References 31 publications

Exploitation of bistatic doppler measurements in multistatic tracking

Exploitation of bistatic doppler measurements in multistatic tracking

Removing ping timing ambiguity via data association

A Survey of Motion-Based Multitarget Tracking Methods

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